CN109109857A - A kind of unmanned vendors' cart and its parking method and device - Google Patents
A kind of unmanned vendors' cart and its parking method and device Download PDFInfo
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- CN109109857A CN109109857A CN201811033241.0A CN201811033241A CN109109857A CN 109109857 A CN109109857 A CN 109109857A CN 201811033241 A CN201811033241 A CN 201811033241A CN 109109857 A CN109109857 A CN 109109857A
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- unmanned
- vendors
- cart
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/08—Speech classification or search
- G10L15/18—Speech classification or search using natural language modelling
- G10L15/1822—Parsing for meaning understanding
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60P—VEHICLES ADAPTED FOR LOAD TRANSPORTATION OR TO TRANSPORT, TO CARRY, OR TO COMPRISE SPECIAL LOADS OR OBJECTS
- B60P3/00—Vehicles adapted to transport, to carry or to comprise special loads or objects
- B60P3/025—Vehicles adapted to transport, to carry or to comprise special loads or objects the object being a shop, cafeteria or display the object being a theatre or stage
- B60P3/0257—Vehicles adapted to transport, to carry or to comprise special loads or objects the object being a shop, cafeteria or display the object being a theatre or stage the object being a vending stall, restaurant or food kiosk
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/223—Execution procedure of a spoken command
-
- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L15/00—Speech recognition
- G10L15/22—Procedures used during a speech recognition process, e.g. man-machine dialogue
- G10L2015/225—Feedback of the input speech
Abstract
A kind of unmanned vendors' cart and its parking method and device, this method comprises: obtaining the image data of camera acquisition and the voice data of microphone acquisition；Gesture identification is carried out to image data, the gesture information in image is identified, obtains gesture identification consequential signal, speech recognition is carried out to voice data, semantic analysis is carried out to voice data, obtains speech recognition result signal；Gesture identification consequential signal is merged with speech recognition result signal, stop sign is generated according to default rule；Stop sign is responded, output control signal makes unmanned vendors' cart ramp to stop.Since speech recognition and gesture identification are applied to unmanned vendors' cart, pass through merging gesture identification consequential signal and speech recognition result signal, in conjunction with gesture control and voice control, it realizes that unmanned vendors' cart stops according to the intention of consumer, solves the problems, such as how unmanned Mobile vending vehicle correctly identifies consumer's intention in cruise on the way and slowly stop.
Description
Technical field
The present invention relates to vendors' cart technical fields, and in particular to a kind of unmanned vendors' cart and its parking method and dress
It sets.
Background technique
In terms of Unmanned Systems are primarily now applied to the control of passenger car, but the prior art be applied to not yet it is such
The solution of unmanned Mobile vending vehicle, therefore also lack how vendors' cart correctly identifies that consumer is intended to simultaneously when needed
The technical solution slowly stopped.
Summary of the invention
Present invention seek to address that how unmanned Mobile vending vehicle is in cruise, correctly identification consumer is intended to and slowly stops on the way
The problem of vehicle, provides a kind of unmanned vendors' cart and its parking method and device.
According in a first aspect, providing a kind of parking method of unmanned vendors' cart in a kind of embodiment, comprising:
Obtain the image data of camera acquisition and the voice data of microphone acquisition；
Gesture identification is carried out to described image data, the gesture information in image is identified, obtains gesture identification consequential signal,
Speech recognition is carried out to the voice data, semantic analysis is carried out to voice data, obtains speech recognition result signal；
Gesture identification consequential signal is merged with speech recognition result signal, parking letter is generated according to default rule
Number；
The stop sign is responded, output control signal makes unmanned vendors' cart ramp to stop.
In some embodiments, the default rule includes:
When the gesture identification consequential signal has preset parking gesture, stop sign is generated；
Or, generating stop sign when speech recognition result signal has preset parking voice.
In some embodiments, this method further include:
The trigger signal of stop button is responded, output control signal makes unmanned vendors' cart directly stop.
In some embodiments, this method further include:
It, will be according to the current location of unmanned vendors' cart and surrounding during unmanned vendors' cart ramp to stop
Road conditions select place parking.
According to second aspect, a kind of parking device of unmanned vendors' cart is provided in a kind of embodiment, comprising:
For obtaining the module of the image data of camera acquisition and the voice data of microphone acquisition；
For to described image data carry out gesture identification, obtain gesture identification consequential signal, to the voice data into
Row speech recognition obtains the module of speech recognition result signal；
For merging gesture identification consequential signal with speech recognition result signal, stopped according to default rule generation
The module of vehicle signal；
For responding the stop sign, output control signal makes unmanned vendors' cart ramp to stop.
According to the third aspect, a kind of unmanned vendors' cart is provided in a kind of embodiment, comprising:
Camera, for acquiring the image data of unmanned vendors' cart surrounding；
Microphone, for acquiring unmanned vendors' cart surrounding voice data；
First processor, for obtaining the image data of camera acquisition and the voice data of microphone acquisition；To the figure
As data progress gesture identification, gesture identification consequential signal is obtained, speech recognition is carried out to the voice data, obtains voice knowledge
Other consequential signal；Gesture identification consequential signal is merged with speech recognition result signal, is stopped according to default rule generation
Vehicle signal；
Second processor, for responding the stop sign, output control signal stops unmanned vendors' cart deceleration
Vehicle.
In some embodiments, unmanned vendors' cart further include:
Locating module realizes positioning function for unmanned vendors' cart；
Four mesh visual sensors, for acquiring the road conditions of unmanned vendors' cart all directions；
The second processor is also used to the current location according to unmanned vendors' cart and the road conditions of surrounding, output control
Signal processed makes unmanned vendors' cart travel or stop；
Traveling mechanism, for the control signal according to second processor, so that unmanned vendors' cart traveling or parking.
In some embodiments, unmanned vendors' cart further include: at least one stop button, at least one described parking are pressed
Button is set to the surface of the self-service cabinet；
According to fourth aspect, a kind of unmanned vendors' cart is provided in a kind of embodiment, comprising:
Memory, for storing program；
Processor, for the program by executing the memory storage to realize method as described in relation to the first aspect.
According to the 5th aspect, a kind of computer readable storage medium, including program, described program are provided in a kind of embodiment
It can be executed by processor to realize method as described in relation to the first aspect.
According to above-described embodiment, speech recognition and gesture identification are applied to unmanned vendors' cart in the application, pass through
By merging for gesture identification consequential signal and speech recognition result signal, gesture control and voice control are comprehensively utilized, realizes nothing
People drives vendors' cart and is stopped according to the intention of consumer, solves unmanned Mobile vending vehicle in cruise and how correctly to identify consumption on the way
The problem of person is intended to and slowly stops.
Detailed description of the invention
Fig. 1 is a kind of parking method flow chart of unmanned vendors' cart of the application；
Fig. 2 is a kind of composition block diagram of unmanned vendors' cart of the application；
Fig. 3 is a kind of main view of the structural schematic diagram of the unmanned vendors' cart of embodiment；
Fig. 4 is a kind of rearview of the structural schematic diagram of the unmanned vendors' cart of embodiment.
Specific embodiment
Below by specific embodiment combination attached drawing, invention is further described in detail.Wherein different embodiments
Middle similar component uses associated similar element numbers.In the following embodiments, many datail descriptions be in order to
The application is better understood.However, those skilled in the art can recognize without lifting an eyebrow, part of feature
It is dispensed, or can be substituted by other elements, material, method in varied situations.In some cases, this Shen
Please it is relevant it is some operation there is no in the description show or describe, this is the core in order to avoid the application by mistake
More descriptions are flooded, and to those skilled in the art, these relevant operations, which are described in detail, not to be necessary, they
Relevant operation can be completely understood according to the general technology knowledge of description and this field in specification.
It is formed respectively in addition, feature described in this description, operation or feature can combine in any suitable way
Kind embodiment.Meanwhile each step in method description or movement can also can be aobvious and easy according to those skilled in the art institute
The mode carry out sequence exchange or adjustment seen.Therefore, the various sequences in the description and the appended drawings are intended merely to clearly describe a certain
A embodiment is not meant to be necessary sequence, and wherein some sequentially must comply with unless otherwise indicated.
The unmanned vendors' cart of the application refers to the vendors' cart that autonomous is carried out in setting regions, i.e., using existing
The traditional fixation of unmanned technological transformation automatic selling lorry, make its can autonomous so that consumer disappears without fixed point
Take, can be called together with voice or movement when the vendors' cart for seeing autonomous and be suspended sale of lorry, so that consumer does shopping.
How inventive concept of the invention solves Mobile vending vehicle, and in cruise, identification consumer is intended to and stops on the way
Problem, that is, solve the problems, such as how human-computer interaction and machine cope with the reaction of consumer behaviour.
The principle of the application is camera and microtelephone to be installed before and after car body, and stop button is arranged on the car body,
Camera, microtelephone and button are docked with control system, the image data that camera acquires is carried out using deep learning
The voice of gesture identification, microphone acquisition carries out speech recognition, and the two signal is merged, and is transferred to nobody after judgement
Control system, to signal monitoring in Unmanned Systems, once receiving useful signal, then vehicle slowly stops and enters and sells
Goods state.In addition, to avoid light bad or voice noisy environment, stop button are once pressed, system will ignore gesture and
Voice signal directly stops.
Referring to FIG. 1, the application provides a kind of parking method of unmanned vendors' cart, this method comprises:
Step S1 obtains the image data of camera acquisition and the voice data of microphone acquisition.
Step S2 carries out gesture identification to described image data, identifies the gesture information in the image as unit of frame, obtain
To gesture recognition result signal, speech recognition is carried out to the voice data, semantic analysis is carried out to voice data, obtains voice
Recognition result signal；Wherein, gesture identification method and audio recognition method are that this will not be repeated here for the prior art.
Gesture identification consequential signal is merged with speech recognition result signal, is produced according to default rule by step S3
Raw stop sign.
Step S4, responds the stop sign, and output control signal makes unmanned vendors' cart ramp to stop.
Wherein, the default rule of step S3 includes:
When the gesture identification consequential signal has preset parking gesture, or/and, speech recognition result signal has pre-
If parking voice when, generate stop sign.
Preset parking gesture can preset it is multiple, including wave, right hand thumb is to first-class；Preset parking voice can also
Preset multiple, including special call voice is arranged in " STOP ", " STOP " and some existing mobile robots of analogy, such as
" hi, robot " etc..
In some embodiments, as long as long as the gesture identification consequential signal has one of preset parking gesture,
Stop sign will just be generated；As long as will generate and stop or, speech recognition result signal has one of preset parking voice
Vehicle signal.
In some embodiments, due to consideration that it (may be greeting friend, it is also possible to greet that the occasion that pedestrian waves is more
Taxi), the interference information of gesture control is more, in order to exclude some interference informations, by gesture control in conjunction with voice signal,
When the gesture identification consequential signal is with preset parking gesture and speech recognition result signal has preset parking language
When sound, stop sign is just generated.
In some embodiments, parking gesture need to continuously occur in the gesture information identified from image, and in picture gradually
When increasing (people that waves moves closer to unmanned vendors' cart), stop sign is just generated.
In some embodiments, the parking method of the application further includes the trigger signal for responding stop button, output control letter
Number unmanned vendors' cart is directly stopped.I.e. unmanned vendors' cart is provided with stop button, when stop button is triggered,
Also it may make unmanned vendors' cart directly to stop, realize unmanned vendors' cart emergency stop and a kind of safety measure.And this
In kind emergency stop method, stop button is triggered, and will ignore hand signal and voice signal.
It can be seen that user can take three kinds of modes to make its parking, it may be assumed that hand for the unmanned vendors' cart of the application
Gesture control, audio call and triggering stop button.Wherein, gesture control can be used simultaneously with audio call, the letter that the two generates
It number will fusion treatment.
It in some embodiments, will be according to unmanned vendors' cart during unmanned vendors' cart ramp to stop
The road conditions of current location and surrounding select suitable place to stop, that is, some unsuitable information for stopping place are preset, when four mesh
When the collected surrounding road conditions of visual sensor 24 have these information, control vendors' cart is evaded.To avoid being parked in
Be inconvenient to the place sold goods, for example avoid being parked in corner, lavatory doorway, dustbin side, and to sell goods mouth direction rationally,
Avoid selling goods a mouthful Chao Qiang, towards river etc..
With reference to Fig. 2-Fig. 4, the application provides a kind of unmanned vendors' cart, comprising: signal recognition system and unmanned
System.Wherein,
Signal recognition system includes:
Camera 31, for acquiring the image data of unmanned vendors' cart surrounding；
Microphone 32, for acquiring unmanned vendors' cart surrounding voice data；
First processor 101 is electrically connected with camera 31, microphone 32 and second processor 102, adopts for obtaining camera
The voice data of image data and the microphone acquisition of collection；Gesture identification is carried out to described image data, obtains gesture identification result
Signal carries out speech recognition to the voice data, obtains speech recognition result signal；By gesture identification consequential signal and voice
Recognition result signal is merged, and generates stop sign according to default rule.
Unmanned Systems include:
Second processor 102 is also electrically connected with locating module 23, four mesh visual sensors 24 and traveling mechanism 20, is used for
The stop sign is responded, output control signal makes unmanned vendors' cart ramp to stop；It is also used to be sold according to unmanned
The current location of lorry and the road conditions of surrounding, output control signal make unmanned vendors' cart travel or stop；
Locating module 23 realizes positioning function for unmanned vendors' cart；
Four mesh visual sensors 24, for acquiring the road conditions of unmanned vendors' cart all directions；
Traveling mechanism 20, for the control signal according to second processor 102, so that unmanned vendors' cart travels or stops
Vehicle, unmanned vendors' cart traveling includes starting, cruising, slow down, turn to etc..
In some embodiments, unmanned vendors' cart further includes cabinet 10, and 10 front of cabinet is provided with matter storage lattice 11, shipment
Mouth 12 and operation panel 13,10 side (not shown) of cabinet and reverse side are provided with advertising device 15.It should be appreciated that cabinet 10 of selling goods
It is identical as existing self-service machine, including power input (not shown), 13 and of matter storage lattice 11, output port 12 and operation panel
Commodity delivery device (not shown) etc., wherein matter storage lattice 11, operation panel 13 and commodity delivery device are electrical equipments, due to
The application does not improve 10 structure of cabinet, and this will not be repeated here for particular content.
In some embodiments, Unmanned Systems further include: at least one stop button 30, at least one described parking are pressed
Button 30 is set to the surface of the cabinet 10.In some embodiments, stop button 30 is set to 10 lower part of cabinet, and child is facilitated to touch
It touches.
In some embodiments, positioning device 23 is set to self-service top of the box；Four mesh visual sensors 24 are set to
10 top of cabinet.Microphone 32 and camera 31 are set to 10 top of cabinet, and all there is setting in four faces respectively.
In some embodiments, traveling mechanism 20 includes: battery 27, electric wheel 22, unmanned vehicle drive-by-wire chassis 21 and inversion
Device (not shown).Battery 27 is set on unmanned vehicle drive-by-wire chassis 21, is electrically connected with the unmanned vehicle drive-by-wire chassis 21, electric vehicle
Wheel 22 is electrically connected with battery 27 and is powered, and unmanned vehicle drive-by-wire chassis 21 is set to 10 bottom of cabinet, the input terminal of inverter and
Battery 27 is connected, and the output end of inverter is connected with the power input of cabinet 10, to provide power to the electricity consumption of cabinet 10
Equipment uses.Existing its power input of self-service machine is usually the alternating current for accessing 220V, and the application dexterously utilizes inverse
Become 220V voltage needed for the voltage that battery exports is reverse into cabinet 10 by device, changes not done to existing self-service machine structure
Under conditions of dynamic, the power supply to cabinet 10 is realized.That is, chassis of the unmanned vehicle drive-by-wire chassis 21 as cabinet 10, it can
The operating of driving electric wheel 22 is to drive cabinet 10 to travel or stop.
Correspondingly, the application also provides a kind of unmanned vendors' cart, comprising:
Memory, for storing program；
Processor realizes the parking of above-mentioned unmanned vendors' cart for the program by executing the memory storage
Method, the processor include first processor 101 and second processor 102.
Correspondingly, the application also provides a kind of computer readable storage medium, including program, and described program can be processed
Device executes the parking method to realize above-mentioned unmanned vendors' cart.
It will be understood by those skilled in the art that all or part of function of various methods can pass through in above embodiment
The mode of hardware is realized, can also be realized by way of computer program.When function all or part of in above embodiment
When being realized by way of computer program, which be can be stored in a computer readable storage medium, and storage medium can
To include: read-only memory, random access memory, disk, CD, hard disk etc., it is above-mentioned to realize which is executed by computer
Function.For example, program is stored in the memory of equipment, when executing program in memory by processor, can be realized
State all or part of function.In addition, when function all or part of in above embodiment is realized by way of computer program
When, which also can store in storage mediums such as server, another computer, disk, CD, flash disk or mobile hard disks
In, through downloading or copying and saving into the memory of local device, or version updating is carried out to the system of local device, when logical
When crossing the program in processor execution memory, all or part of function in above embodiment can be realized.
Use above specific case is illustrated the present invention, is merely used to help understand the present invention, not to limit
The system present invention.For those skilled in the art, according to the thought of the present invention, can also make several simple
It deduces, deform or replaces.
Claims (10)
1. a kind of parking method of unmanned vendors' cart characterized by comprising
Obtain the image data of camera acquisition and the voice data of microphone acquisition；
Gesture identification is carried out to described image data, the gesture information in image is identified, gesture identification consequential signal is obtained, to institute
It states voice data and carries out speech recognition, semantic analysis is carried out to voice data, obtains speech recognition result signal；
Gesture identification consequential signal is merged with speech recognition result signal, stop sign is generated according to default rule；
The stop sign is responded, output control signal makes unmanned vendors' cart ramp to stop.
2. the method as described in claim 1, which is characterized in that the default rule includes:
When the gesture identification consequential signal has preset parking gesture, or/and, speech recognition result signal has preset
When parking voice, stop sign is generated.
3. the method as described in claim 1, which is characterized in that further include:
The trigger signal of stop button is responded, output control signal makes unmanned vendors' cart directly stop.
4. the method as described in claim 1, which is characterized in that further include:
It, will be according to the road of the current location of unmanned vendors' cart and surrounding during unmanned vendors' cart ramp to stop
Condition selects place parking.
5. a kind of parking device of unmanned vendors' cart, it is characterised in that include:
For obtaining the module of the image data of camera acquisition and the voice data of microphone acquisition；
For carrying out gesture identification to described image data, gesture identification consequential signal is obtained, language is carried out to the voice data
Sound identification, obtains the module of speech recognition result signal；
For merging gesture identification consequential signal with speech recognition result signal, parking letter is generated according to default rule
Number module；
For responding the stop sign, output control signal makes unmanned vendors' cart ramp to stop.
6. a kind of unmanned vendors' cart characterized by comprising
Camera, for acquiring the image data of unmanned vendors' cart surrounding；
Microphone, for acquiring unmanned vendors' cart surrounding voice data；
First processor, for obtaining the image data of camera acquisition and the voice data of microphone acquisition；To described image number
According to gesture identification is carried out, gesture identification consequential signal is obtained, speech recognition is carried out to the voice data, obtains speech recognition knot
Fruit signal；Gesture identification consequential signal is merged with speech recognition result signal, parking letter is generated according to default rule
Number；
Second processor, for responding the stop sign, output control signal makes unmanned vendors' cart ramp to stop.
7. unmanned vendors' cart as claimed in claim 6, which is characterized in that further include:
Locating module realizes positioning function for unmanned vendors' cart；
Four mesh visual sensors, for acquiring the road conditions of unmanned vendors' cart all directions；
The second processor is also used to the current location according to unmanned vendors' cart and the road conditions of surrounding, output control letter
Travel unmanned vendors' cart or parking；
Traveling mechanism, for the control signal according to second processor, so that unmanned vendors' cart traveling or parking.
8. unmanned vendors' cart as claimed in claim 5, which is characterized in that further include: at least one stop button, it is described
At least one stop button is set to the surface of the self-service cabinet.
9. a kind of unmanned vendors' cart, characterized by comprising:
Memory, for storing program；
Processor, for the program by executing the memory storage to realize as of any of claims 1-4
Method.
10. a kind of computer readable storage medium, which is characterized in that including program, described program can be executed by processor with
Realize such as method of any of claims 1-4.
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| CN201811033241.0A CN109109857A (en) | 2018-09-05 | 2018-09-05 | A kind of unmanned vendors' cart and its parking method and device |
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Cited By (13)
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| CN109828576A (en) * | 2019-02-22 | 2019-05-31 | 北京京东尚科信息技术有限公司 | Gestural control method, device, equipment and medium for unmanned dispensing machine people |
| CN110020849A (en) * | 2019-03-20 | 2019-07-16 | 深兰科技（上海）有限公司 | A kind of smart machine method of payment and device |
| CN110211585A (en) * | 2019-06-05 | 2019-09-06 | 广州小鹏汽车科技有限公司 | In-car entertainment interactive approach, device, vehicle and machine readable media |
| CN110293965A (en) * | 2019-06-28 | 2019-10-01 | 北京地平线机器人技术研发有限公司 | Method of parking and control device, mobile unit and computer-readable medium |
| CN110851070A (en) * | 2019-11-12 | 2020-02-28 | 新石器慧通（北京）科技有限公司 | Parking method and device, unmanned vehicle and storage medium |
| CN110931011A (en) * | 2020-01-07 | 2020-03-27 | 杭州凯旗科技有限公司 | AI intelligent voice interaction method applied to intelligent retail equipment |
| CN110955243A (en) * | 2019-11-28 | 2020-04-03 | 新石器慧通（北京）科技有限公司 | Travel control method, travel control device, travel control apparatus, readable storage medium, and mobile device |
| CN111275886A (en) * | 2020-01-16 | 2020-06-12 | 中汽数据(天津)有限公司 | Car is sold to intelligence |
| CN111993978A (en) * | 2020-07-14 | 2020-11-27 | 嘉善新石器智牛科技有限公司 | Automatic driving vending cart and man-machine interaction method thereof |
| CN113119955A (en) * | 2020-08-31 | 2021-07-16 | 长城汽车股份有限公司 | Parking method for a vehicle and vehicle |
| CN113247010A (en) * | 2021-05-11 | 2021-08-13 | 上汽通用五菱汽车股份有限公司 | Cruise vehicle speed control method, vehicle, and computer-readable storage medium |
| CN114013431A (en) * | 2022-01-06 | 2022-02-08 | 宁波均联智行科技股份有限公司 | Automatic parking control method and system based on user intention |
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